My favorite of the SNES goemon games, Ganbare Goemon 3 is pretty much a precursor to Mystical Ninja Starring Goemon for the N64. The game has you roaming around a big overworld looking for fortune cats which are pretty much heart pieces (to make a comparison to the zelda series), and exploring the world for dungeons and treasure to help you on your way. Though the language barrier of the game mayyyyyy get in your way from time to time, with a little problem solving, you can get back on your way again no-problem.
The game switches to classic 2D side scrolling action for dungeons, though they're openly explorable rather than "get to the goal" sort of stuff. Just further giving it a zelda-feel despite not really playing like zelda.
The game also has the return of Impact Giant Boss Battles! But not everything you fight is a Giant Robot! I won't spoil it for you, as I found it amazing.
One final note: This game features the first time Lady Ninja Yae being playable in the series!